Programming Of The Tool Orientation (A - Siemens SINUMERIK 828D Programming Manual

Examples
1. Example of machine kinematics CA (channel axis names C, A)
ORIRESET(90, 45)
ORIRESET(, 30)
ORIRESET( )
2. Example of machine kinematics CAC (channel axis names C, A, B)
ORIRESET(90, 45, 90)
ORIRESET( )
Programming LEAD, TILT and THETA rotations
In respect of three- to five-axis transformation, tool orientation rotations are programmed with
the LEAD and TILT angles.
In respect of a transformation with third rotary axis, additional programming settings for C2
(rotations of the orientation vector) are permitted for both orientation with vector components
and with entry of the LEAD, TILT angles.
With an additional third rotary axis, the rotation of the tool about itself can be programmed
with the THETA rotary angle.
6.2.4 Programming of the tool orientation (A..., B..., C..., LEAD, TILT)
Function
The following options are available when programming tool orientation:
1. Direct programming the motion of rotary axes. The change of orientation always occurs in
2. Programming in Euler or RPY angles in accordance with angle definition using
3. Programming of the direction vector using
4. Programming the surface normal vector at the start of the block with
5. Programming using lead angle
6. Programming of rotary axis of taper as normalized vector using
7. Programming of reorientation, direction and path length of tool during retraction
Job planning
Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
;C at 90 degrees, A at 45 degrees
;C at $MC_TRAFO5_ROT_AX_OFFSET_1/2[0], A at 30 degrees
;C at $MC_TRAFO5_ROT_AX_OFFSET_1/2[0],
;A at $MC_TRAFO5_ROT_AX_OFFSET_1/2[1]
;C at 90 degrees, A at 45 degrees, B at 90 degrees
;C at $MC_TRAFO5_ROT_AX_OFFSET_1/2[0],
;A at $MC_TRAFO5_ROT_AX_OFFSET_1/2[1],
;B at $MC_TRAFO5_ROT_AX_OFFSET_1/2[2]
the basic or machine coordinate system. The orientation axes are traversed as
synchronized axes.
C2
tool tip toward the tool adapter.
the end of the block with
intermediate orientation on the peripheral surface of a taper using
see "Orientation programming along the peripheral surface of a taper (ORIPLANE,
ORICONxx)".
movement using
A8, B8, C8,
see "Smoothing the orientation characteristic (ORIPATHS A8=, B8=, C8=)"
6.2 Three, four and five axis transformation (TRAORI)
A3, B3, C3
(face milling).
A5, B5, C5
and tilt angle
LEAD
The direction vector points from the
A4, B4, C4
TILT
A6, B6, C6
A7, B7, C7,
Transformations
A2, B2,
and at
or of
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